US2793336A - Means for eliminating asymmetry zerodrift errors in magnetic servo amplifiers - Google Patents

Description

Ml? 21, 1957 w. A. GEYGER 2,793,336

uEANs FOR ELIMINATING AsYuuETRY ZERO-DRIFT ERRORS 1N uAGNETIc sERvo AMPLIFIERS 3 Sheets-Sheet l Filed arch 28, 1955 FIG.1.

May 21, 1957 w. A. GEYGER 2,793,336

MEANS FOR ELIMINATING ASYMMETRY ZERO-DRIFT ERRORS IN MAGNETIC SERVO AMPLIFIERS Filed llarch 28, 1955 3 Sheets-Sheet 2 FIG.3.

' SATURABLE REACTOR Q U 'Q' V TANK E, I

CIRCUIT LINEAR FIRST STAGE FIRST STAGE SECOND STAGE mT/'ENTQR W. A. GEYGER llo 40o-mrow. UNE VOLTAGE En-vo (Rus) ATTORNE 5 DISTORTION- PER CENT FUNDAMENTAL COMPONENT May 21 1957 l GEYGER 2,793,336

W. A. MEANS FOR ELIMINATING ASYMMETRY ZERO-DRIFT ERRORS IN MAGNETIC SERVO AMPLIFIERS Flled March 28, 1955 ."5 Sheets-Sheet 3 FIC.5.

IOO IIO |20 |30 Y 40C-'CYCLE LINE VOLTAGE EP-VOLTS (RMS) FIG.6.

IZOO-CYCLE OUTPUT VOLTAGE EL-VOLTS (RMS) l cT=6.5

Z CT=60 p- LO loo no |20 |30 40o-CYCLE UNE VOLTAGE EP-voLTsmMs) INVENTOR W. AL GEYGER TTORNEY United States Patent MEANS FOR ELIMINATING ASYMMETRY ZERO- DIIIFT ERRORS IN MAGNETIC SERVO AMPLI- F RS Wilhelm A. Geyger, Takoma Park, Md., assignor to the United States of America as represented by the Secretary of the Navy Application March 28, 1955, Serial No. 497,481

9 Claims. (Cl. 318-30) (Granted under Title 35, U. S. Code (1952), sec. 266) The invention described herein may be manufactured and used by or for the Government of the United States of America for governmental purposes without the payment of any royalties thereon or therefor.

F[lhis invention relates to magnetic amplifiers employed in servo-systems for controlling the operation of a twophase reversible motor and more particularly to those :systems where the elimination of zero-drift due to lack of symmetry is of major importance.

in magnetic servo-amplifiers of the type heretofore devised it has been the usual practice when employed in :synchro-systems to make the saturable reactor and rectifier components of the system as nearly identical as possible. This is achieved yby applying well known matching procedures to the components, which operation represents a. considerable portion of the cost of labor in the fabrication and testing of these systems.

Furthermore, in the prior art devices, particularly when applied to the control of a two-phase reversible motor in position-indicating synchro-transmission systems, it is the arsual practice to employ the same frequency of supply `.voltage applied to the magnetic amplifier as the frefquency employed to operate the motor. With such an :arrangement an error signal received from the amplifier ;as the result of symmetry of the component parts therefof, for example, is of necessity of the same frequency as :the power supply current for the motor and the motor :therefore is unable to distinguish between an error sig- .nal `as a result of this asymmetrical condition and a sig- .nal `from the synchro-control transformer when the inistant setting thereof is different from the setting of the :synchro-generator. This error signal is referred to herein as a signal causing an error in the motor setting which .represents `a departure from the zero-drift output of 4the magnetic amplifier and, therefore, is undesirable. The foperation of the motor in response to this error or drift .signal causes a false operation or movement of the mov- :able element of the synchro-control transformer which in turn not only destroys the phase matched relation be- :tween the synchro-generator and the synchro-control transformer with respect to the instantaneous setting of the respective movable elements thereof but in addition introduces -a false input signal into the magnetic amplier which further aggravates this condition,

The present invention possesses all of the advantages of the systems of the prior art and none of the foregoing disadvantages. In accordance with the teaching of the present invention the power supply of the magnetic amplifier is of a different frequency than the power supply current to the two-phase motor to be controlled whereby error signals as the result of symmetry of the magnetic amplifier are ineective to cause motor operation. More specifically, the frequency of the power supply to the vmagnetic amplifier is of a higher order than the frequency of the supply `current to the motor and preferably :an odd multiple thereof. In achieving this result an arrangement is provided in which both frequencies are obtained from a single source of power supply and without the necessity of employing separate power supplies of different `frequencies. This result is achieved by employing a frequency multiplier intermediate the source of power and the magnetic amplifier whereby the frequenc'y of the power sent into the magnetic amplifier is an odd multiple of the frequency of the power sent into the motor, as will be more clearly apparent as the description proceeds. The system of the present invention in addition to eliminating the error drift of the controlled motor usually found in systems of this type also pfovides an arrangement in which the speed of responsey to a change in the setting of the synchro-generator is materially improved.

One of the objects of the present invention is to provide a position-indicating synchro-transmitting system having new and improved means for eliminating a drifterror signal therefrom as the result of asymmetry of the push-pull magnetic amplifier.

Another object is the provision of new and improved means for increasing the speed of response of the magnetic amplifier to a signal from the synchro-control transformer.

Another object is to increase the efficiency of the magnetic amplifier employed with servo-control systems.

A further object is to provide a new and improved magnetic amplifier of improved efficiency in which the size of the components comprising the coil and core structures are reduced without reduction in the power output thereof.

A still further object is to provide a magnetic amplifier for use with a servo-control system in which the power input thereto is obtained from a frequency tripler circuit having means yfor improving the wave form of the power current.

Other objects and many of the attendant advantages of this invention will be readily appreciated as the same becomes better understood `by reference to the following detailed description when considered in connection with the accompanying drawings wherein:

Fig. l is a circuit diagram illustrating a position-indicating synchro-transmission system employing a frequency multiplier in accordance with a preferred embodiment of the invention;

Fig. 2 illustrates in diagrammatic form a single-phase, bridge-type magnetic frequency tripler suitable for use with the circuit arrangement of Fig. l;

Fig. 3 is a circuit diagram on which is shown a twostage, bridge-type magnetic frequency multiplier for use alternatively with the circuit arrangement of Fig. 1;

Fig. 4 is a circuit diagram of a two-stage, bridge-type magnetic yfrequency multiplier combining the features of Figs. 2 and 3 and suitable for use alternatively therewith;

Fig. 5 is a chart in graph form on which is shown the variations in cycle output voltage for different values of capacitors in the tank circuit corresponding to variations in the 400 cycle line voltage;

Fig. 6 is a chart in graph form on which is shown variations in input current corresponding respectively to different values of 400 cycle line voltage when different values of capacitance in the tank circuit are employed; and

Fig. 7 is a graph in which is shown the percent distortion in the fundamental component of the 1200 cycle output voltage applied to the magnetic amplifier and corresponding respectively to different values of the 400 cycle current voltage.

Referring now to the drawings for a more `complete understanding of the invention and more specifically to Fig. l thereof, there is shown thereon a position-indicating synchrotransmission system having Ia two-phase motor which is operated by a special combination of a two-stage half-wave magnetic servo-amplifier and a mag- Patented May 21, 1957.

netic frequency multiplier or frequency converter in a manner to eliminate asymmetry zero-drift errors of the amplifier, as will more clearly lappear as the description proceeds. In the arrangement of Fig. 1 a two-stage halfwave magnetic servo-amplifier is indicated generally by the numeral 1t), the output of which is connected as by the conductors 11 to the control winding 12 of a twophase reversible, motor Yindicated gener-ally by the numeral 13. The line field winding 14 of the motor is continuously connected to a source of alternating current V15, such, for example, as y40() `cycles per second as by the conductors 1.16, a capacitor 20 being included in the circuit to the Aline field winding to effect a suitable phase shift between the currents flowing in the motor windings V12 `and 14 to causeV `satisfactory operation of the motor when the currents applied thereto respectively are of the same frequency.

The rotatable motor element is operatively connected to the rotor component 17 of the synchro-control transformer generally indicated by the numeral 1S whereby the synchro-control transformer winding is movable by the two-phase reversible motor to different settings corresponding respectively to instant settings of the movablev element of the two-phase reversible motor. If desired, this connection may advantageously include a gear arrangement as is well known in the `art. The rotor component 17 of the synchro-control transformer is connected as by the conductors 19 to the input of the first or input stage of the magnetic servo-amplifier 10. The stator windings of the synchro-control transformer are connected as by the conductors 21 to the stator windings of a synchro-generator V22?.. The rotor 23 of the synchrogenerator is energized by the A. C. source over conductors 16 and ymovable to dilferentsettings by the control element 24 operatively connected thereto as shown to any desired setting.

In the preferredembodiment `of the invention illustrated on Fig. l the two-stage half-wave magnetic servoamplier is similar in construction and operation as the two-stage magnetic amplifier described in my U. S. Patent No. 2,725,521 and lcomprises an input stage of the push-pull type and a push-pull output stage operatively connected thereto, these two stages being mutually coupled by `differential windings of the output-stage cores, as illustrated. The secondary winding Iof the output transformer 28 is connected to a condenser 25 for demodulating the 1200 cycle carrier frequency whereby the fundamental 400 cycle voltage is .applied to the control winding 12 ofthe two-phase mot-or 13 when a 400 cycle signal is applied to the half-wave amplifier by the rotor component 17 of the synchro-control transformer, this 400 cycle signal being of substantially sinusoidal waveform.

The operation of the circuit of Fig. l will now be described. vLet it be assumed, by wayv of example, that the'control element 24 is at an angular setting corresponding to a setting of the rotatable element of the two-phase motor 13 and the rotor 23 of the synchro- Agenerator 22 is `setat the same setting as the rotor component 17 of the synchro-,control Vtransformer 18. Under these conditions no voltage is induced in the rotor component 17 of the synchro-control transformer and the input of the amplifier 10 therefore is not energized. Under these conditions there is no energization by the output stage transformer 28 of the wires 11. The control winding 12 of the two-phase motor 13, therefore, will be de-energized `and the motor 13 will remain at rest.

Let it now be assumed that the control element 24 is moved to a new setting. When this occurs, a voltage will be induced in the rotor component 17 of the synchrocontrol transformer, which voltage is applied to the input of the servo-amplifier causing a 400 'cycle output current'to be supplied by the `output transformer of the servo-amplifier to conductors 11' and then-ceto winding 12 of the two-phase motor 13. This 400 cycle energization of control winding 12 causes the m-otor to operate by reason of the Icontinuous 400 cycle energization of the line field winding 14 thereof. The direction of movement of the rotatable element of the motor is controlled by the actual phase relationship between the ycontrol-transformer voltage generated at rotor component 17 of the synchro-control transformer which causes a current to ow through winding 12 of two-phrase motor 13 thereby causing the motor 13 to operate in a direction controlled by the mutual phase relationship of the currents flowing through the motor windings 12 and 14, the phase of the current in Winding 12 -being in accordance with the phase relationship of the current induced in rotor :component 17 with respect to the lcurrent applied to winding 14 from the A. C. source 15.

in accordance Vwith the teaching of the present invention the magnetic amplifier is energized by a frequency converter or magnetic frequency multiplier lindicated generally by the numeral 26 which, in accordance With the preferred embodiment disclosed on Fig. l multiplies the frequency of 409 cycles per second applied thereto to a frequency of 1200 cycles per second. This current of 12GB cycle frequency is applied by conductors 27 to both stages of the magnetic servo-amplifier 1t) where it is employed as a Vcarrier and is modulated by the 400 cycle signal current applied to the amplifier by conductors 19; and, due to the saturating functions of the cores in the magnetic amplifier, the 400 cycle signal is inherently amplified in accordancel with the saturating effects introduced in the cores by the `1200 cycle signal. For a more complete description of the operation of the magnetic amplier circuit, reference is made to my hereinabove mentioned Patent No. 2,725,521. The secondaryI winding of the output transformer 28, therefore, generates a current having both 400 and 1200 cycle components. As heretofore stated, condenser 25 connected across the secondary winding of the output transformer demodulates the output signal by reducing or eliminating the cycle carrier component thereof whereby only the 400 cycle component is applied to control winding 12 of the two-phase motor 13.

if, at a time when the setting of the motor controlled rotatable element 17 of the synchro-controlled transformer is in alignment Ywiththe control element 24, the input stage of the magnetic servo-amplifier should become unbalanced either as the `result of changing temperature conditions of the two rectiers of the input stage, by lack of identity between the magnetic characteristics of the two cores of the input stage or between the reverseor leakage-current characteristics of the two rectifiers respectively connected thereto or for any reason which may cause asymmetry of the push-pull circuit, an output current may be applied to the control winding 12 of the motorV 13. This current flowing through winding 12, however, is without torque-producing effect for the reason the frequency of this current is different from the frequency of the current continuously applied to the line field winding 14 and the motor, under these conditions, remains at rest. Stated somewhat differently, under these conditions no effective error signal would be applied to the rotatable element vof motor 13. For this reason the -system disclosed on Fig. 1 is inherently drift-free in contradistinction to other Well known arrangements in which the amplier is supplied directly with current of the same frequency as the exciting current ofthe line field winding 14 of the motor 13. Since signals of a fortuitous character such as those just described are Vapplied to the control winding 12 of the motor 13 and these signals are an odd multiple of the frequency of the current applied to the line field winding, 'the motor does not respond to such signals and the system, therefore, does discriminate between control signals received from the rotor component 17 of the synclaro-control transformer. in response to movement of the control element 13 to a new setting which is of the same frequency as the frequency of current applied to the line field winding and therefore is effective to control the direction of operation and mating position of the motor 13 and those signals of fortuitous character originating Within the magnetic servo-amplifier which occur as the result of undesired asymmetry.

The useful and novel circuit arrangement of Fig. 1 provides a system for automatic discrimination between fortuitous signals within the system applied to the motor 13 without causing operation of the motor and motor operating control signals, in contradistinction to prior art systems in which such fortuitous signals cause erroneous motor operation. The system of Fig. l causes the motor to respond only to signals generated by the rotor component 17 of the synchro-control transformer to the exclusion of all such fortuitous signals.

Referring now to Figs. 2, 3 and 4, there are shown thereon three different types of frequency converter or magnetic-frequency-multiplier arrangements suitable for use with the system of Fig. 1. In Fig. 2, for example, is shown a single-phase, bridge-type frequency tripler of well known design. More specifically, the arrangement of Fig. 2 comprises a saturable reactor, a linear reactor and a tank or trap circuit in bridge connection, the tank circuit operating to by pass undesired frequencies when connected as illustrated in parallel with a load. The load of Fig. 2, in the instant case, may be Ithe half-wave amplifier of Fig. l or the equivalent thereof. The tripler of Fig. 2 operates to change the input or power supply frequency of 60 cycles, for example, applied thereto to an output frequency of 180 cycles or an input or power supply frequency current of 400 cycles to 120() cycles, as the case may be. The term input or power supply as employed herein may be defined as either the input voltage or the input current of the tripler.

In the event that a higher ratio between carrier frequency and modulating frequency is desired, an arrangement such as shown in Fig. 3 may be employed. In this arrangement, ltwo tripler circuits, Fig. 2, are connected in cascade whereby a frequency ratio of l to 9 is effected. For example, a voltage having a frequency of 60 cycles applied to the input of the multiplier of Fig. 3 `emerges at a frequency of 540 and a 400 cycle voltage applied to the input emerges at a frequency of 3600 at the second stage thereof.

On Fig. 4 is shown a two-stage frequency multiplier in which the input is obtained from a three-phase power supply. The frequency multiplier of Fig. 4 comprises a three-phase input-stage tripler having the output thereof connected to the input of a single-phase output-stage tripler such as shown on Fig. 2` The first stage comprises three saturable reactors connected to the three windings respectively of a Y-connected secondary winding of a power supply transformer, the other terminal of each of these saturable reactors being connected to a linear reactor and thence by way of condenser 29 to the neutral wire of the Y-connected secondary winding. The output circuit is tapped off from the terminals of condenser 29.

By employing a linear reactor for each of the saturable reactors and a common condenser 29 in the manner shown, an improved output waveform is achieved which possesses the desirable characteristics of smoothness in operation and which is less critical to variations in power supply voltage applied thereto since it is well known that such changes in voltage may produce undesirable changes of the firing angle of the saturable reactors. The linear reactors and the condenser 29 therefore improve the reliability of operation of the frequency multiplier.

Whereas on Fig. 4, the saturable reactor elements and the linear reactor elements are formed on separate cores, it will be understood that this is by way of example only as the windings may be formed, if desired, upon a common core. Furthermore, the cores of the linear reactors are preferably composed of magnetic dust suitable for the purpose, such for example, as a material known in the trade as Permalloy-Dust.

Figs. 5, 6 and 7 are charts in graphic form illustrating performance characteristics of the magnetic frequency multipliers of Fig. 2 in accordance with actual tests performed thereon. Fig. 5, for example, discloses the relation between the magnitude of cycle outputvoltage as a function of the 400 cycle Vline voltage. Curve 31, for example, shows variations of output voltage with respect to variations in 400 cycle line voltage when the condenser in the trap circuit has a capacity of 7.0 microfarads. In like manner curves 32 and 33 show a similar relation between the output and line voltages when condensers of 6.5 microfarads and 6.0 microfarads respectively are employed. In a similar manner the relation of total input current of the magnetic frequency tripler as a function of 40() cycle line voltage is shown by curves 34, 35 and 36, Fig. 6, when tank condensers of 7.0 microfarads, 6.5 microfarads and 6.0 microfarads respectively are employed. On Fig. 7 is shown a curve 37 corresponding to the percent distortion of the fundamental component of the frequency multiplier output voltage as a function of 400 cycle line voltage applied thereto. It will be apparent from Figs. 5, 6 and 7 that variations in the 1200 cycle output voltage, input current and fundamental component distortion as the result of variations in the 40() cycle line voltage applied to the frequency multiplier have been proved by experimental investigations to have no substantial effect upon the proper operiation of the system.

Whereas the invention has been described with particularity with respect to Fig. 1 on which is shown a two-stage half-wave magnetic servo-ampliiier, it is not so'limited as it may be `advantageously employed with other types of push-pull magnetic `amplifiers such, for example, as the type known in the art as the self-balancing potentiometer type generally referred to as self-balancing magnetic amplifiers. Furthermore, the invention is not to be limited to the two-phase reversible motor shown on Fig. 1 for the controlled element as it may be employed with equal facility and advantage to other forms of phase sensitive separately excited or phase-sensitive electro-responsive devices, the operation of which are based upon the cosine law or sine law, as the case may be.

Furthermore, the invention, according to the broader aspects thereof, may employ lany electrical balancing syrtem suitable for the purpose such, for example, as a phase-sensitive Wheatstone bridge, in lieu of the selyo control arrangement disclosed.

Obviously many modifications and variations of the present invention are possible in the light of the above teachings. It is therefore to be understood that within the scope of the appended claims the invention may be practiced otherwise than as specifically described.

What is claimed `as new and desired to be secured by Letters Patent of the United States is:

l. A servo mechanism system comprising a push-pull magnetic amplifier including at least one pair of saturable core reactors having control windings and load windings thereon, a source of predetermined fundamental frequency `alternating current, means for applying a harmonic carrier frequency of said current to said load windings, an electrical balancing system connected to said current source and energized thereby, a pair of settable elements in said balancing system and movable independently to different settings, means in said balancing system constructed and arranged to develop an error signal of said fundamental frequency proportional to the degree of mutual maladjustment of said settable elements, means operatively connecting one of said settable elements with the control windings of a pair of said saturable core reactors to provide operating potential therefor, `an output circuit for said amplifier, a phase-sensitive electro-responsive device having a pair of control ele- 7 ments? oneofsaidiele'inents" bein'g conne'c'ted tfsaidi cinrent source and the other element coiiriectedl i `jtheoutplnt' off said amplifier", means ony saidL pliase-sensitive"y device movablein either directionv'from a position of restl selectively in accordance with the algebraic phase difference of the currents flowing in each of said control elements andbrought to rest when no current owsin one of said control elements, said phase-sensitive device being operable only when thefr currents flowing in said control elements are of vthe same'fre'quency, and means operatively connectingsaid movable means to said one of the settable elements of said-'electrical balancing system in such manner that theV electrical balancing'system is restored to aV stateof balanceby said phase-responsive device.

2. A claim according to claim l in which the phasesensitive'device comprises a two-phase reversible motor.

3. A' claim according to claim l in which the harmonic frequency of `said fundamental current'is an odd multiple of the fundamental frequency.

4. A claimr according to olaim l in which said one of the movable elements of the electrical balancing system comprises aV synchro-controlled transformer.

5. A claim according to claim l in which the magnetic servo amplifier is of the two stage half wave type.

6. A claim according to claim l in which means are connectedacross said amplifier output for removing the carrier frequency from theV output current of the amplifier.`

7. A claim according to claim l in which said control circuit comprises a second pair of said reactors.

8. A servo mechanism system comprising a source of alternating current having a substantially constant fun-l damental frequency, a magnetic frequency multiplierrfor multiplying said fundamental frequency to a predetermined odd harmonic thereof, a synchro-generator energized from said source, a synchro-control transformer operatively coupled to said generator forfdeveloping an error signal of said fundamental frequency, a push-pull magnetic amplifier including saturable core reactors having control windingsl and load windings, means including Y a plurality of circuit connections for continuously applying `the harmonic frequency output of said multiplier to the load windings of said amplifier to provide operating potential therefor, and a Z-phase reversible induction motor having field windings and control windings, said current source being connected to the eld windings and said amplifier being connected to supply a potential ap- 8 pea'ringin-the loutput thereof tosaid-frnotor control' Windel ings,i whereby saidnttotorv is responsive toa'rfoutputv signal from' the? amplifier corresponding? tosaid error andriori-Y able element from an-initial position ofl re'st to avsettingV corresponding to the setting of said synchro-generator, said electro-responsive' device having a control winding and a power supply winding, a sourceof substantially constant frequency electrical current continuously connected to said control winding and t`o`said synchro-generator, means for establishingv al plurality of electricalA connectionsV between said-movable elementof the synchro-control transformer and the input of said amplifier, means operatively connected to said source of current for applying a predetermined odd frequency harmonic thereof to said amplifier, means in saidV amplifier for modulating the harmonic frequency carrier currentv by the error voltage generated by the said synchro-control transformer, means for removing the carrier frequency from the output of the amplifier whereby only the amplified modulated current appears at the output thereof, and means connecting said amplifier output to the control winding of said phasesensitive electro-responsive motor means whereby the movable element of the synchro-control transformer is moved in a directiontoward the instant setting of the synchiro-generator in accordance with a predetermined phase relationship between the currents supplied to said power and control windings'. of said electro-responsive motor means until the movable element of the synchro-control transformer has reached a matching position therewith.

References Citedin the file of this patent UNITED STATES PATENTS 2,164,383 Burton July 4, 19,39 2,519,365 Go'ertz Aug. 22, 1950 2,581,436 McCarthy Jan. 8, 1952 2,692,356 Milsom Oct. 19, 1954

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